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Visual navigation system of wall climbing robot for weld inspection, welding and locating method of welding seam and method of obtaining welding seam offset

A technology of wall-climbing robot and visual navigation, which is applied in the directions of surveying and mapping, navigation, navigation, measuring device, etc., can solve the problem of inability to realize the maintenance work of the tower.

Active Publication Date: 2012-08-22
航天科工哈尔滨风华有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing technology in the harsh natural environment cannot realize the inspection and maintenance of the tower in the way of teaching and reproduction, a visual navigation system for the wall-climbing robot used for welding seam detection, a welding positioning method and a welding seam welding positioning method are provided. Seam offset acquisition method

Method used

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  • Visual navigation system of wall climbing robot for weld inspection, welding and locating method of welding seam and method of obtaining welding seam offset
  • Visual navigation system of wall climbing robot for weld inspection, welding and locating method of welding seam and method of obtaining welding seam offset
  • Visual navigation system of wall climbing robot for weld inspection, welding and locating method of welding seam and method of obtaining welding seam offset

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specific Embodiment approach 1

[0024] Specific implementation mode 1. Combination figure 1 Describe this embodiment in detail, the visual navigation system of the wall-climbing robot that is used for welding seam detection described in this embodiment, it comprises charge-coupled camera 1, cross laser emitter 2 and computer,

[0025] The charge-coupled camera 1 and the cross laser emitter 2 are fixed on the front end of the robot head, and the cross laser emitter 2 is directly above the charge-coupled camera 1, and the laser emitted by the cross laser emitter 2 is irradiated on the workpiece to be welded A cross spot is formed on the surface, and the charge-coupled camera 1 is used to photograph the cross spot on the workpiece surface, and the angle between the optical axis of the laser beam emitted by the cross laser emitter 2 and the optical axis of the camera head of the charge-coupled camera 1 is 45°, and the charge-coupled The data output end of the camera 1 is connected with the data input end of the ...

specific Embodiment approach 2

[0026] Specific embodiment two, based on the welding positioning method of the weld seam of the visual navigation system of the wall-climbing robot that is used for weld seam detection described in specific embodiment one, it comprises the following steps:

[0027] Step 1. The cross laser transmitter 2 emits a red cross-shaped laser beam. The laser beam is irradiated on the surface of the workpiece to be welded to form a cross spot, and the laser beam is used to scan the surface of the workpiece. During the scanning process, the charge-coupled camera 1 is used to collect For the video information on the surface of the workpiece, perform step 2;

[0028] Step 2, the computer receives the video information collected by the charge-coupled camera;

[0029] Step 3, the computer processes each frame of image in the video information as follows:

[0030] Step 31, dividing the frame image into pixels, the values ​​of the pixels represent the values ​​of the red, yellow and blue color...

specific Embodiment approach 3

[0042] Specific embodiment three, combine figure 2 This embodiment is described in detail. The difference between this embodiment and the second embodiment is that the optimal threshold method for obtaining the gray value corresponding to the value of the red component described in step 33 is:

[0043] The four pixels on the top, bottom, left, and right adjacent to a pixel on the image and its four diagonal adjacent pixels constitute the neighborhood information of the eight pixels of the pixel, and the image is obtained by the two-dimensional maximum entropy segmentation method. The two-dimensional histogram of the point gray value and the gray value of the neighborhood information gray value of the pixel point, using the maximum two-dimensional entropy to obtain the optimal threshold f(x, y) of the gray value corresponding to the red component value;

[0044] Among them, (x, y) is the coordinate of the pixel point,

[0045]The A and B areas of the two-dimensional histogram...

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Abstract

The invention relates to a visual navigation system of a wall climbing robot for weld inspection, a welding and locating method of a welding seam and a method of obtaining welding seam offset. According to the invention, the problem that in the place with a bad natural environment, the overhauling and maintaining work for a tower cylinder in a teaching reappearing way cannot be realized by using the prior art is solved. A charge coupled camera and a cross-shaped laser transmitter of the visual navigation system are fixedly arranged at the front end of the head part of the wall climbing robot, the cross-shaped laser transmitter is arranged right above the charge coupled camera, laser transmitted by the cross-shaped laser transmitter irradiates on the surface of a welding workpiece to form a cross-shaped light spot, the charge coupled camera is used for photographing the cross-shaped light spot on the surface of the welding workpiece, and a data output end of the charge coupled camera is connected with a data input end of a computer. The visual navigation system, the welding and locating method and the method of obtaining the welding seam offset, disclosed by the invention, are suitable for the field of overhauling and maintaining the tower cylinder.

Description

technical field [0001] The invention is applicable to the field of inspection and maintenance of tower tubes. Background technique [0002] In recent years, the wind power industry has developed vigorously, and the number of wind power towers has increased sharply. Correspondingly, the demand for maintenance of towers has also greatly increased. The height of a general wind power tower is between 50 and 100 meters. The tower is divided into several sections, and each section is welded by a single steel plate coil. Due to the influence of welding process and welding precision, problems such as weak welding, pores, and slag inclusions will inevitably occur in the weld part, which will easily cause further cracks during the use of the wind field. Since most of the wind farms are built in places with harsh natural environments such as seas, canyons, and mountain passes, the above problems have become a great safety hazard in the use of wind turbines. For a long time, the overh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01N21/88G01B11/00G01B11/02
Inventor 张立国肖波焦建彬高学山
Owner 航天科工哈尔滨风华有限公司
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